JPWO2006043302A1 - Moving body speed measurement system - Google Patents

Abstract

A mobile body equipped with an ultrasonic signal output unit that generates and outputs an ultrasonic signal of a specific frequency, an ultrasonic signal receiving unit that receives the output ultrasonic signal, and the ultrasonic signal receiving unit A detection unit that detects a difference between the frequency of the ultrasonic signal and the specific frequency, a calculation unit that calculates the speed of the moving body from the detected difference signal, and a display unit that displays the calculated result. .

Description

  The present invention relates to a mobile body measurement system, and more particularly to a mobile body measurement system capable of measuring speed with high accuracy even with a low-speed mobile body.

  All patents, patent applications, patent gazettes, scientific papers, etc. cited or identified in this application are hereby incorporated by reference for the purpose of more fully explaining the current state of the art regarding the present invention. Include a description of

  Conventionally, a speed measuring method for measuring the speed of a toy such as a radio controlled car generally uses two sensors. That is, two light generators arranged at a predetermined interval and an optical sensor that receives these light beams are arranged, and the time difference between the distance between the light beams and the time when the vehicle passes the light beams. Is a method of measuring the speed when passing the car. In the case of this method, if the two light generating devices are separately installed, it is necessary to accurately set and measure the distance between the light generating devices. The accuracy depends on the measurement accuracy.

  Further, the lines connecting the light beam generating devices and the optical sensors, that is, the trajectories through which the light beams pass must be parallel to each other, and the lengths of the trajectories must be the same.

  In addition, the car must pass perpendicular to the ray trajectory. That is, if the distances passing between the rays of the car are different.

  Therefore, the method of measuring by the time of passing the light beam has a problem that it is difficult to improve the accuracy, man-hours are required for measurement preparation, and the measuring equipment is large.

  Therefore, as in Patent Document 1, an invention has been proposed in which a moving body detection means is previously incorporated in a gate member.

  However, it is difficult to improve accuracy, and the problem that man-hours are required for measurement preparation has not been solved. Furthermore, problems such as the need for different gates depending on the shape and speed of the automobile to be measured have arisen.

  On the other hand, a speed gun is widely used as a speed measuring device. The speed gun transmits electromagnetic waves in the SHF band and calculates the speed of the moving body from the reflected wave and the transmitted wave from the moving body by the Doppler effect. As a feature, it is necessary that the speed of the moving body is a certain speed or more. For example, the measurable speed of the moving body is 1 km / h to 500 km / h. It is difficult to measure at less than 1 km / h like a radio controlled car.

  Also, the distance from the moving body needs to be a certain distance. Specifically, it is 6 m to 1800 m, and it is difficult to measure at a close distance such as the distance between the radio controlled car and the operator.

  Furthermore, when the measurement object is small, it is desirable that the surface is a uniform surface like a ball. Therefore, erroneous measurement is likely to occur when the surface shape is small and complex, such as a radio control.

  In addition, since the speed gun radiates and reflects electromagnetic waves, a certain output is required for the electromagnetic waves. Moreover, the cost of components etc. is also required.

  On the other hand, a speed measuring system that receives radio waves from a moving radio wave emission source and calculates a moving speed as in Patent Document 2 has been proposed, but depends on the surface shape of the moving body because it does not use reflection. The problem to be solved is solved.

  However, since electromagnetic waves are used, the problems regarding speed and measurement distance are not sufficiently addressed.

JP 09-325155 A JP 2000-275334 A

  The present invention has been made in order to solve the above-described problems, and its object is to output a moving body equipped with an ultrasonic signal output unit that generates and outputs an ultrasonic signal of a specific frequency. An ultrasonic signal receiving unit that receives the ultrasonic signal, a detection unit that detects a difference between the frequency of the ultrasonic signal received by the ultrasonic signal receiving unit and the specific frequency, and a detected differential signal The speed of the moving body can be measured with high accuracy even with a low-speed moving body by the calculating section for calculating the speed of the moving body and the display section for displaying the calculated result.

  Another object is to use an ultrasonic signal output unit that generates and outputs an ultrasonic signal having a specific frequency, so that the speed can be easily measured even at a low speed of less than 1 km / h.

  Further, since the ultrasonic wave signal output unit is mounted on the moving body, a direct wave is used, so that the load on the output unit is reduced.

  Still another object is to perform measurement at a close distance by an ultrasonic signal receiving unit that receives the output ultrasonic signal.

  In addition, another object is to accurately measure the speed by a detection unit that detects a difference between the frequency of the ultrasonic signal received by the ultrasonic signal reception unit and the specific frequency.

  Another object is that the calculation unit that calculates the speed of the moving body from the detected difference signal calculates an accurate speed.

  Another object is to easily recognize the speed by a display unit that displays the calculated result.

  Still another object is that the ultrasonic signal output unit drives the ultrasonic sensor with a transmission circuit for transmitting a signal of a specific frequency, a booster circuit for boosting a signal amplification voltage, an oscillation signal, and the boosted voltage. By providing an ultrasonic sensor drive circuit and an ultrasonic sensor output unit including an ultrasonic transducer, an ultrasonic wave with sufficiently large amplitude is generated even with a low-voltage battery.

  In addition, another object of the present invention is to provide a plurality of oscillation circuits for transmission so that an arbitrary oscillation circuit is connected to the ultrasonic sensor drive circuit by a selection means, so that a plurality of movement circuits can be moved simultaneously. It is to be able to measure at the same time even if the body runs close.

  Another object of the present invention is that the ultrasonic signal receiving unit includes a micro ultrasonic sensor including an ultrasonic sensor input unit including a receiver including an ultrasonic transducer and an amplifying unit that amplifies a signal from the receiver. This is to make it possible to easily detect a sound wave signal.

  Another object is that the detection unit includes a reception oscillation circuit unit that generates a signal of a specific frequency, a frequency difference extraction circuit unit that mixes the signal of the specific frequency and the signal amplified by the amplification unit, By providing a low-pass filter that selectively transmits the frequency difference signal, only a necessary difference signal is extracted.

  Still another object is that a plurality of the reception oscillation circuits are provided and an arbitrary reception oscillation circuit is connected to the frequency difference extraction circuit unit by the selection means, so that the transmission frequency is changed. However, it is to be able to cope.

  In addition, another object of the present invention is to provide a sampling unit that samples a signal that has passed through the low-pass filter unit, a band-pass filter unit that passes only a specific frequency band, a sound speed, a specific frequency, and a band-pass filter unit. And an arithmetic unit that calculates the moving speed of the moving body from the frequency of the signal that has passed through the signal.

  Another object is that the display unit includes a display drive unit that is connected to the arithmetic unit and generates a display drive signal, and a display plate unit that receives the display drive signal and displays an image. It is to measure speed.

  Another object of the present invention is that the mobile body can wirelessly control the system of the present invention by connecting a radio control reception control unit that receives a radio control signal and wirelessly controls the mobile body to the ultrasonic sensor driving circuit. There is to do.

  Still another object is that the radio control reception control unit is connected to an antenna that receives a radio control signal and a reception unit that demodulates the radio control signal and to a drive unit that moves a moving body. It is to enable ultrasonic generation control of the system of the present invention.

  In addition, another object is to transmit the calculation result to the radio control unit by further connecting the calculation unit to a radio control transmission control unit that transmits a radio control signal for controlling the mobile body. It is in.

  Another object is that the radio control transmission control unit further includes an input unit for operating the moving body in an arbitrary state, a storage unit for storing information received from the calculation unit, and a transmission unit for generating a control signal. The transmitter is connected to the antenna, so that the measurement contents in the system can be fed back to the mobile body.

  Another object of the present invention is to enable measurement with high accuracy without being influenced by directivity because the ultrasonic sensor output unit has directivity in one or more specific directions.

  Still another object is that the ultrasonic sensor output unit does not have directivity in a specific direction, thereby enabling highly accurate measurement without being influenced by directivity.

  In addition, another object is that the ultrasonic signal output unit mounted on the moving body generates and outputs an ultrasonic signal of a specific frequency, and when the ultrasonic signal receiving unit receives the output ultrasonic signal, the detection unit Detects the difference between the frequency of the ultrasonic signal received by the ultrasonic signal receiving unit and the specific frequency, the calculation unit calculates the speed of the moving body from the detected differential signal, and the display unit By displaying the calculated result, it is to enable highly accurate measurement.

  Another purpose is to mount an ultrasonic signal output unit on a mobile unit for radio control, and to mount an ultrasonic signal receiver, detection unit, calculation unit, and display unit on a radio control transmitter. An object of the present invention is to provide a radio-controlled mobile toy that is characterized in that it enables accurate speed measurement of the radio-controlled mobile toy.

  A first aspect of the gist of the present invention is a mobile body equipped with an ultrasonic signal output unit that generates and outputs an ultrasonic signal of a specific frequency, an ultrasonic signal receiving unit that receives the output ultrasonic signal, and A detection unit that detects a difference between the frequency of the ultrasonic signal received by the ultrasonic signal reception unit and the specific frequency, a calculation unit that calculates the velocity of the moving body from the detected difference signal, and a calculation Another object of the present invention is to provide a moving body speed measurement system including a display unit for displaying the results.

  The ultrasonic signal output unit includes a transmission circuit for transmitting a signal having a specific frequency, a booster circuit for boosting a signal amplification voltage, and an ultrasonic sensor drive for driving the ultrasonic sensor with the oscillation signal and the boosted voltage. An ultrasonic sensor output unit including a circuit and an ultrasonic transducer is provided.

  Furthermore, a plurality of the oscillation circuits for transmission are provided, and an arbitrary oscillation circuit is connected to the ultrasonic sensor drive circuit by a selection unit.

  In addition, the ultrasonic signal receiving unit includes an ultrasonic sensor input unit including a receiver including an ultrasonic transducer and an amplifying unit that amplifies a signal from the receiver.

  The detection unit selects a reception difference circuit unit that generates a signal of a specific frequency, a frequency difference extraction circuit unit that mixes the signal of the specific frequency and the signal amplified by the amplification unit, and a frequency difference signal And a low-pass filter unit that transmits light.

  In addition, a plurality of reception oscillation circuits are provided, and any reception oscillation circuit is connected to the frequency difference extraction circuit unit by a selection unit.

  Subsequently, the calculation unit includes a sampling unit that samples the signal that has passed through the low-pass filter unit, a band-pass filter unit that passes only a specific frequency band, and a sound speed, a specific frequency, and a signal that has passed through the band-pass filter unit. And a calculation unit that calculates the moving speed of the moving body from the frequency.

  The display unit includes a display drive unit that is connected to the calculation unit and generates a display drive signal, and a display plate unit that receives the display drive signal and displays an image.

  Further, the mobile body is characterized in that a radio control reception control unit that receives a radio control signal and wirelessly controls the mobile body is connected to the ultrasonic sensor drive circuit.

  In addition, the radio control reception control unit is connected to an antenna that receives a radio control signal and a reception unit that demodulates the radio control signal and to a drive unit that moves the moving body.

  And the said calculating part is further connected with the radio control transmission control part which transmits the radio | wireless control signal for controlling a moving body.

  In addition, the radio control transmission control unit is further connected to an input unit for operating the mobile body in an arbitrary state, a storage unit that stores information received from the calculation unit, and a transmission unit that generates a control signal, The transmission unit is connected to the antenna.

  Subsequently, the ultrasonic sensor output unit has directivity in one or more specific directions. Further, the ultrasonic sensor output unit does not have directivity in a specific direction.

  A second aspect of the gist of the present invention is that an ultrasonic signal output unit mounted on a moving body generates and outputs an ultrasonic signal having a specific frequency, and the ultrasonic signal receiving unit receives the output ultrasonic signal. The detection unit detects the difference between the frequency of the ultrasonic signal received by the ultrasonic signal reception unit and the specific frequency, and the calculation unit calculates the speed of the moving body from the detected difference signal, It is a moving body speed measuring method which displays the result which a display part computed.

  A third aspect of the gist of the present invention is that an ultrasonic signal output unit is mounted on a mobile body for radio control, and an ultrasonic signal reception unit, a detection unit, a calculation unit, and a display unit are provided for radio control. A radio-controlled mobile toy that is mounted on a transmitter.

  The present invention includes a moving body equipped with an ultrasonic signal output unit that generates and outputs an ultrasonic signal of a specific frequency as described above, an ultrasonic signal receiving unit that receives the output ultrasonic signal, and the ultrasonic wave A detection unit that detects a difference between the frequency of the ultrasonic signal received by the signal reception unit and the specific frequency, a calculation unit that calculates the speed of the moving body from the detected difference signal, and a calculation result Since the display unit for displaying is provided, there is an effect that even a low-speed moving body can measure the speed with high accuracy.

  Further, in the speed measurement using the ultrasonic Doppler according to the present invention, the transmission of the ultrasonic wave and the reception of the ultrasonic wave are separated as a mechanism, so that the entire system becomes compact, and the length measurement accuracy and the running which are error factors are reduced. Because the position accuracy is not required, the measurement is highly accurate. Furthermore, since the configuration is compact, it has become inexpensive and feasible in terms of manufacturing man-hours and materials.

  Further, since measurement can be realized by a simple method simply by directing the receiver to the transmitter, measurement with high accuracy is possible because there is no unnecessary length measurement and position setting.

  In addition, since direct wave detection is performed, the transmitter has a low output, the circuit is simple, and the manufacturing man-hours and parts materials are inexpensive.

  Further, since the signal is output from the object to be measured without reflecting the ultrasonic wave to the moving body, the measurement accuracy is improved because it is not affected by the shape or size of the reflecting surface of the object to be measured. .

  Since an ultrasonic signal output unit that generates and outputs an ultrasonic signal of a specific frequency is provided, there is an effect that the speed can be easily measured even at a low speed of less than 1 km / h.

  In addition, since the ultrasonic signal output unit is mounted on the moving body, since the direct wave is used, there is an effect that the load on the output unit is reduced.

  Furthermore, since the ultrasonic signal receiving unit for receiving the output ultrasonic signal is provided, there is an effect of performing measurement at a close distance.

  In addition, since the detection unit for detecting the difference between the frequency of the ultrasonic signal received by the ultrasonic signal reception unit and the specific frequency is provided, there is an effect that the speed is measured with high accuracy.

  And since the calculation part which calculates the speed of the said mobile body from the detected difference signal was provided, there exists an effect that an exact speed is calculated.

  Moreover, since the display part which displays the calculated result was provided, there exists an effect that speed is recognized easily.

  Furthermore, the ultrasonic signal output unit includes a transmission circuit for transmitting a signal having a specific frequency, a booster circuit for boosting a signal amplification voltage, and an ultrasonic sensor drive for driving the ultrasonic sensor with the oscillation signal and the boosted voltage. Since the circuit and the ultrasonic sensor output unit including the ultrasonic transducer are provided, there is an effect that an ultrasonic wave having a sufficiently large amplitude is generated even with a low-voltage battery.

  In addition, since a plurality of oscillation circuits for transmission are provided and an arbitrary oscillation circuit is connected to the ultrasonic sensor drive circuit by the selection means, a plurality of moving bodies can be moved close to each other at the same time. Even if it is effective at the same time.

  Since the ultrasonic signal receiving unit includes an ultrasonic sensor input unit including a receiver including an ultrasonic transducer and an amplifying unit that amplifies a signal from the receiver, a minute ultrasonic wave is provided. There is an effect that signals can be easily detected.

  The detection unit includes a reception oscillation circuit unit that generates a signal of a specific frequency, a frequency difference extraction circuit unit that mixes the signal of the specific frequency and the signal amplified by the amplification unit, and a frequency difference signal Since the low-pass filter unit that selectively transmits light is provided, there is an effect that only a necessary differential signal is extracted.

  Furthermore, a plurality of reception oscillation circuits are provided, and any reception oscillation circuit is connected to the frequency difference extraction circuit section by the selection means, so that it is possible to cope with changes in transmission frequency. It has the effect of making it possible.

  In addition, the calculation unit includes a sampling unit that samples a signal that has passed through the low-pass filter unit, a band-pass filter unit that passes only a specific frequency band, a sound speed, a specific frequency, and a signal that has passed through the band-pass filter unit. Since the calculation unit for calculating the moving speed of the moving body from the frequency is provided, there is an effect that measurement without error is possible.

  The display unit includes a display driving unit that is connected to the arithmetic unit and generates a display driving signal, and a display plate unit that receives the display driving signal and displays an image. There is an effect of doing.

  In addition, since the mobile control unit that receives the radio control signal and wirelessly controls the mobile unit is connected to the ultrasonic sensor drive circuit, the mobile unit can be wirelessly controlled. There is an effect.

  Further, the radio control reception control unit is connected to the antenna that receives the radio control signal and the reception unit that demodulates the radio control signal and is connected to the drive unit that moves the moving body. There is an effect of enabling the ultrasonic generation control of the system.

  In addition, since the calculation unit is further connected to a radio control transmission control unit that transmits a radio control signal for controlling the mobile body, the calculation result is transmitted to the radio control unit.

  And the said radio control transmission control part is further connected with the memory | storage part which memorize | stores the information received from the input part and operation part for operating a moving body to arbitrary states, and the transmission part which produces | generates a control signal, and said transmission Since the unit is connected to the antenna, the measurement contents in the present system can be fed back to the moving body.

  Further, since the ultrasonic sensor output unit has directivity in one or more specific directions, there is an effect that measurement with high accuracy is possible without being influenced by directivity.

  Further, since the ultrasonic sensor output unit does not have directivity in a specific direction, there is an effect that measurement with high accuracy is possible without being influenced by directivity.

  In addition, according to the present invention, when the ultrasonic signal output unit mounted on the moving body generates and outputs an ultrasonic signal of a specific frequency, and the ultrasonic signal receiving unit receives the output ultrasonic signal, the detection unit The difference between the frequency of the ultrasonic signal received by the ultrasonic signal receiving unit and the specific frequency is detected, the velocity of the moving body is calculated from the detected difference signal, and the display unit calculates Since the result is displayed, there is an effect of enabling highly accurate measurement.

  And this invention mounts an ultrasonic signal output part in the mobile body for radio control, and mounts an ultrasonic signal receiving part, a detection part, a calculation part, and a display part in the transmitter for radio control. Since the wirelessly controlled mobile toy characterized by the above is provided, it is possible to accurately measure the speed of the wirelessly controlled mobile toy.

  Hereinafter, the present invention will be described based on embodiments shown in the drawings.

(First embodiment)
1A, 1B, and 1C are conceptual diagrams of a moving body speed measurement system according to the present invention. FIG. 1A shows a side view of a moving body in a moving body speed measurement system according to the present invention. The ultrasonic signal output unit 4 in the moving body speed measurement system according to the present invention is mounted on the top of the automobile toy 2 that is a moving body so that ultrasonic waves are emitted forward to the roof of the automobile toy 2.

  On the other hand, FIG. 1B shows a side view of the receiving unit 6 of the moving body speed measurement system according to the present invention. The receiving unit 6 is provided with a main body 8 that receives the ultrasonic waves and calculates a velocity, and a trigger 12 that starts reception in the vicinity of a connecting portion of the gripping unit 10 that is inclined and protrudes from the main body 8.

  FIG. 1C shows a front view of the operation plate 14 of the moving body speed measurement system according to the present invention. An ultrasonic receiving unit is provided on the front surface of the main body 8, and an operation plate 14 is provided on the back surface with respect to the front surface. The operation plate 14 is provided with a speed display plate 16 for displaying the measured speed, a speed unit changeover switch 18 for switching speed units, and the like.

  Further, using FIG. 1D and FIG. 1E, FIG. 1D shows a block diagram of the ultrasonic signal output unit 4, and FIG. 1E shows a block diagram of the reception unit 6.

  The moving body speed measurement system according to the present invention includes a moving body 2, an ultrasonic signal output unit 4, an ultrasonic signal receiving unit 20, a detecting unit 22, a calculating unit 24, and a display unit 26. The body 2 is equipped with an ultrasonic signal output unit 4, and the ultrasonic signal output unit 4 is configured to generate and output an ultrasonic signal of 38 KHz. The ultrasonic signal receiving unit 20 is configured to receive the output ultrasonic signal. The detection unit 22 detects a difference between the frequency of the ultrasonic signal received by the ultrasonic signal reception unit 20 and the specific frequency. The calculation unit 24 is configured to calculate the speed of the moving body from the detected difference signal. The display unit 26 is configured to display a calculation unit and the calculated result.

  The ultrasonic signal output unit 4 drives the ultrasonic sensor with the transmission circuit 28 for transmitting a signal of a specific frequency, here 38 kHz, the booster circuit 30 for boosting the signal amplification voltage, and the oscillation signal and the boosted voltage. An ultrasonic sensor drive circuit 32 and an ultrasonic transducer 34 are included. A 6 V power supply 33 is connected to the transmission oscillator circuit 28 and the booster circuit 30.

  The transmission circuit 28 for transmission is preferably a circuit including a crystal oscillator. The booster circuit 30 may be any one of a booster circuit composed of a booster coil, a circuit composed of a switching regulator, and a circuit composed of a DC-DC converter.

  For example, the ultrasonic sensor drive circuit 32 is connected to and driven by each electrode of the ultrasonic oscillator 34 by connecting inverter elements of two logic circuits in parallel, and one electrode of the ultrasonic oscillator 34 is a capacitor 36. And is connected to the ultrasonic sensor drive circuit 32. The direct current component is cut by passing through the capacitor 36, and a voltage twice the driving voltage is applied to the ultrasonic oscillator 34.

The ultrasonic oscillator 34 is an ultrasonic oscillator for transmission composed of BaTiO ₃ , PZT (piezo element), PbTiO _3, etc., and may be either a drip-proof type or an open type. It is driven by the sensor drive circuit 32 and transmits a 38 kHz ultrasonic wave. Here, the ultrasonic oscillator 34 has directivity but is arranged so as to face the traveling direction of the moving body.

  As shown in FIG. 1E, the receiving unit 6 includes an ultrasonic signal receiving unit 20, a detecting unit 22, a calculating unit 24, and a display unit 26.

  The ultrasonic signal receiving unit 20 includes an ultrasonic sensor input unit 40 including a wave receiver 38 made of an ultrasonic vibrator and the like, and an amplifying unit 42 that amplifies a signal from the wave receiver 38.

The wave receiver 38 formed of an ultrasonic vibrator or the like is a receiving ultrasonic oscillator composed of BaTiO ₃ , PZT (piezo element), PbTiO ₃ or the like, and is either a drip-proof type or an open type. The ultrasonic signal may be received and converted into a sound wave.

  The amplifying unit 42 has a function of amplifying a signal from the wave receiver 38 and outputting the amplified signal as a received signal, and includes an amplifier circuit including an operational amplifier, for example.

  The detection unit 22 includes a reception oscillation circuit unit 44 that oscillates a specific frequency, that is, a 38 kHz signal as a fundamental oscillation, a frequency difference extraction circuit unit 46 that mixes the 38 kHz signal and the signal amplified by the amplification unit 42, And a low-pass filter unit that selectively transmits the frequency difference signal.

  The reception oscillation circuit unit 44 is preferably a circuit including a crystal oscillator. The booster circuit 30 may be any one of a booster circuit that boosts the voltage in proportion to the number of turns of the transformer, a circuit that includes a switching regulator, and a circuit that includes a DC-DC converter. A circuit that stably oscillates at the same frequency is desirable because of accuracy, and it is particularly preferable to use a crystal oscillator.

  The frequency difference extraction circuit unit 46 synthesizes the ultrasonic signal output from the ultrasonic signal output unit 4 mounted on the automobile 2 and the basic signal generated by the reception oscillation circuit unit 44 to calculate the law of sum and difference of waves. This is a circuit for generating a differential signal generated by. This is because the ultrasonic signal output from the ultrasonic signal output unit 4 mounted on the automobile 2 is different from the fundamental frequency that is originally the same because the Doppler effect is caused by the movement of the automobile 2 and the frequency shifts. Is configured to occur.

  The low-pass filter unit 48 attenuates the sum signal, which is a high-frequency component, in order to extract the difference component necessary for obtaining the speed from the difference signal including the sum and difference components generated by the frequency difference extraction circuit unit 46. Configured to let The circuit is composed of an operational amplifier and a passive circuit, a switched capacitor filter, or a digital filter including a DSP.

  The calculation unit 24 includes a sampling unit 50 that samples a signal that has passed through the low-pass filter unit 48, a band-pass filter unit 52 that passes only a specific frequency band, and a signal that has passed through the sound speed, the specific frequency, and the band-pass filter unit 52. And a calculation unit 54 for calculating the moving speed of the moving body from the above frequency, none of which is shown. The cut-off frequency of the low-pass filter unit 48 is (41 kHz).

  The sampling unit 50 is an AD conversion circuit, and is configured to digitize an analog signal that has passed through the low-pass filter unit 48 at a sampling rate of 2 MHz and sequentially store frequency values for each sampling time in the memory 56.

  The bandpass filter unit 52 is configured to reduce noise in unnecessary bands including aliasing noise by filtering the signal stored in the memory 56 with software. The circuit configuration includes an FIR filter or an IIR filter. The pass frequency of the band pass filter unit 52 is (34 kHz to 41 kHz).

  The calculation unit 54 is configured to calculate the velocity v of the moving body from the sound speed vo, the fundamental frequency fo by the reception oscillation circuit unit 44, and Δf received by the reception unit 6. That is, the memory 56 stores the sound speed vo and the fundamental frequency fo as data in advance, and the data of the sound speed vo, the fundamental frequency fo, and the frequency value for each sampling time are read from the memory 56 where the calculation unit 54 is stored. It is comprised from the arithmetic element which inputs into a formula and calculates, It becomes a structure calculated using each memorize | stored data. The calculated speed data of the moving body is again stored in another address of the memory 56. The speed data can be configured to be determined at each sampling, but only when the average value for a certain time is confirmed or the speed within a certain range is calculated more than a specific number of times, It is desirable to adopt a configuration to be adopted. Further, a speed measurement range may be determined in advance, and an error display may be displayed when a value outside the range is calculated. Further, an error display may be provided when the receiver 38 does not receive ultrasonic waves.

  Further, the calculation unit 24 is connected to the liquid crystal driver 58, and the liquid crystal driver 58 is further connected to the liquid crystal display 60.

  The liquid crystal driver 58 is an LSI that drives the liquid crystal display 60. In the case of TFT type liquid crystal, the liquid crystal driver 58 includes a gate driver and a source driver.

  The liquid crystal display 60 is a device that receives and displays the speed data stored in the memory 56 from the calculation unit 24, and is configured to be driven by the liquid crystal driver 58.

  The calculation unit 24 is further connected to the speed measurement switch 12, the speed unit changeover switch 18, the power supply circuit 62, the battery 64, the power supply switch 66, the voltage drop detection circuit 68, the reset circuit 70, and the 8 MHz crystal 72. Is done.

  The speed measurement switch 12 is a trigger that starts reception in the vicinity of the connection portion between the main body 8 that receives the ultrasonic waves and calculates the speed, and the gripping portion 10 that is inclined and protrudes from the main body 8. The switch 12 is provided between the sampling unit 50 and the power source, and is configured to control activation and stop of the sampling unit 50.

  The speed unit selector switch 18 is a switch for switching between display and 0.1 milli / h display at 0.1 km / h. In other words, it is normally displayed in terms of km / h, and when this switch is switched, a value obtained by multiplying a numerical value by 0.621371 is displayed.

  The power supply circuit 62 is connected to the calculation unit 24 by two kinds of conductive wires. The first conducting wire 74 is an auto power-off control signal line, and is a signal line for sending a signal for turning off the power when either a signal input or an operation input is made and a predetermined time elapses from the calculation unit 24. It is.

  The second conducting wire 76 is a power supply driving line. On the other hand, the power supply circuit 62 is further connected to a battery 64, a power ON / OFF switch 66, and a voltage drop detection circuit 68, respectively.

  The battery 64 is a power source for operating the circuit including the calculation unit 24, and the voltage is preferably 6V. The power ON / OFF switch 66 is a power switch of the receiving unit 6. One of the triggers of the timer function of the power operation time of the auto power OFF circuit in the calculation unit 24 is the power ON / OFF switch 66. The switch 66 is provided between the power supply circuit 62 and the battery 64. The auto power off is preferably set so that the power is shut off when no operation and no signal state continues for 15 minutes.

  The voltage drop detection circuit 68 is also connected to the calculation unit 24. The voltage drop detection circuit 68 periodically measures the voltage of the battery 64. If the output voltage of the battery 64 becomes a specific voltage or less, the calculation unit 24 notifies the fact. Record with voltage value. On the other hand, when the voltage drops to a lower voltage, an auto power OFF signal is generated and the power supply circuit 62 and the power supply are shut off.

  The reset circuit 70 is a switch that sends a reset signal to the calculation unit 24. The calculation unit 24 is configured to change all the settings to the initial state when receiving the reset signal.

  The 8 MHz crystal 72 is a crystal oscillator for operating the calculation unit 24.

  With the above configuration, the moving body speed measuring method according to the present invention will be described with reference to FIG.

  First, a power source of a switch (not shown) provided in the transmitter 4 mounted on the car toy 2 is turned on. In the transmitter 4, the battery 6 </ b> V is boosted by the booster circuit 30. The ultrasonic sensor drive circuit 32 amplifies the signal oscillated by the 38 kHz transmission circuit 28 with the boosted voltage, and drives the ultrasonic transducer 34 with the amplified signal to output it as an ultrasonic wave (A2).

  Next, when the trigger 12 provided in the receiving unit 6 is turned on, the receiving unit 6 starts operating (A4).

  It arrange | positions so that the receiver 38 of the receiving part 6 may face the touring car toy 2, and the receiver 38 receives the ultrasonic wave which the ultrasonic signal output part 4 mounted in the toy car 2 receives, and an electric signal (A6).

  The amplifier 42 amplifies the signal received by the receiver 38 (A8). The frequency difference extraction circuit unit 46 mixes the reception signal having the frequency Fi output from the amplification unit 42 and the oscillation signal having the frequency Fo (38 kHz) generated by the reception oscillation circuit unit 44 (A10). Signals of frequency (Fi + Fo) and frequency (Fi−Fo) are generated.

  The mixed signal, which has a frequency (Fi + Fo) and a frequency (Fd = Fi−Fo), passes through the low-pass filter unit 48 (A12). By the low-pass filter unit 48, the passing frequency becomes a signal having a substantially frequency (Fd = Fi-Fo).

  Subsequently, the AD converter that is the sampling unit 50 in the calculation unit 24 digitizes the signal that has passed through the low-pass filter unit 48 with a 2 MHz clock (10 bits) and converts it into a binary value (A14).

  Further, the binary signal is further reduced by the bandpass filter unit 52 using FIR (A16).

  The frequency of the Fd = Fi-Fo signal is measured from the signal that has passed through the bandpass filter unit 52 (A18). Here, it is detected whether or not continuously equivalent Fd values can be measured a specific number of times. If it cannot be detected continuously, measurement is impossible.

  From the measured Fd and sound velocity Vp, the velocity V of the moving object is

より算出する（Ａ２０）。

(A20).

  The calculated speed is displayed on the liquid crystal display 60 via the liquid crystal driver 58 (A22). If measurement is impossible, an error message is displayed on the liquid crystal display 60.

(Second Embodiment)
2A and 2B show conceptual diagrams of a moving body speed measurement system according to the second embodiment of the present invention. 2A and 2B, FIG. 2A shows a block diagram of the ultrasonic signal output unit 4, and FIG. 2B shows a block diagram of the reception unit 6.

  Only differences from the first embodiment of the present invention will be described. In the moving body velocity measurement system according to the second embodiment of the present invention, a plurality of oscillation circuits 28 and 27 are provided between the battery 33 and the ultrasonic sensor drive circuit 32 in the ultrasonic signal output unit 4. Interchangeable switches 29 and 31 are provided between the plurality of oscillation circuits 28 and 27 and the battery 33 and the ultrasonic sensor drive circuit 32.

  Similarly, in the receiving unit 6, a plurality of oscillation circuits 44 and 45 are also provided in the frequency difference extraction circuit unit 46, and a changeover switch 49 is provided therebetween.

  The switch 49 is changed along with the changeover of the changeover switches 29 and 31. The change-over switches 29, 31, and 49 include any case of a manual switch, a relay switch, an electronic switch, or simply a changeover of a crystal oscillator or other change-over switches.

  In addition, it is necessary to select a frequency having a difference of a certain frequency or more as the frequency of the oscillation circuit. That is, if the frequency shift is not more than a multiple of the frequency shift due to the Doppler effect, the measurement is affected.

  In this way, by making it possible to select a plurality of oscillation frequencies, it is possible to simultaneously measure adjacent automobiles simultaneously when using a plurality of moving body velocity measurement systems.

(Third embodiment)
3A and 3B are conceptual diagrams of a moving body speed measurement system according to the third embodiment of the present invention. 3A and 3B, FIG. 3A shows a block diagram of the ultrasonic signal output unit 4, and FIG. 3B shows a block diagram of the reception unit 6.

  Only differences from the first embodiment of the present invention will be described. The moving body speed measurement system according to the third embodiment of the present invention is a system having a structure in which the moving body speed measurement system and the automobile toy 2 are integrated.

  As shown in FIG. 3A, the ultrasonic sensor drive circuit 32 of the moving body speed measurement system is connected to a control unit 78 that controls a radio-controlled toy, that is, a radio control. The controller 78 is connected to a receiver 80 that receives a radio control signal. The receiving unit 80 is connected to an antenna 82 that receives an electromagnetic wave modulated by this control signal. On the other hand, the control part 78 is further connected with the drive part 84 which rotates the wheel of the motor vehicle which is a radio control.

  The receiving unit 80 includes a high frequency amplifying unit that amplifies a signal from the transmitter, an intermediate frequency amplifying unit that converts and amplifies the signal to an intermediate frequency, and a control signal unit that separates the intermediate signal into a control signal from the intermediate frequency amplifying unit. Consists of

  The control unit 78 receives the control signal from the receiving unit 80, further separates it into a drive signal and a steering signal, and transmits them to the drive unit 84.

  The drive unit 84 controls the motor in the case of an electric vehicle by a drive signal, and controls the handling of the radio controlled car by a steering signal. Here, a drive stop signal can be transmitted to the ultrasonic sensor drive circuit 32 by further adding a function to the control unit.

  Further, when the oscillation circuit can be selected as in the second embodiment, a frequency selection signal is transmitted by the transmitter, and the selection signal received by the control unit 78 is selected via the ultrasonic sensor drive circuit 32. Configure the switch to operate.

  On the other hand, the calculation unit 24 of the reception unit 6 illustrated in FIG. 3B and the control unit 86 that controls the car toy 2 are connected. The controller 86 is connected to the antenna 88 via the transmitter 87, and is further connected to a control stick 90 and a memory 92 that stores information received from the calculator.

  The controller 86 converts the resistance change information provided on the stick 90, which is operation information input from the stick 90, into a digital signal by an AD converter (not shown). If the speed signal is received from the calculation unit 24 and is lower than a predetermined speed, an acceleration signal is generated and is higher than the predetermined speed. In this case, a deceleration signal is generated, and each signal is converted into channel data and transmitted to the transmitter 87.

  The transmitter 87 is configured to transmit a high-frequency signal modulated by the channel data generated by the controller 86 from the antenna 88.

  The stick 90 is joined to a volume provided corresponding to several channels so that its output voltage value changes in conjunction with it, and is a means for inputting information corresponding to the operating angle of the stick. It is a device generally used in transmitters such as.

  With this configuration, the speed information received by the ultrasonic sensor drive circuit 32 can be fed back to the car toy.

  Although the speed information can be compared with a constant speed, a speed for each time is determined in advance, and the speed plan is stored in advance in a memory or the like so that the speed is observed according to the plan. It may be programmed.

(Fourth embodiment)
FIG. 4 shows a conceptual diagram of a moving body speed measurement system according to the fourth embodiment of the present invention. FIG. 4 shows a side view of a moving body in the moving body speed measurement system according to the present invention. Here, a plurality of ultrasonic signal output units 4 are mounted. In FIG. 4, the ultrasonic signal output unit 4 is provided such that a front ultrasonic signal output unit 4 a and a rear ultrasonic signal output unit 4 b are bonded to each other.

  For example, by providing directivity in the front direction and all directions of an automobile, measurement from the front and measurement from the rear become easier.

Industrial applicability

  According to the present invention, it is possible to easily measure the speed of an object that moves at a low speed, for example, a toy, a person, a pet, etc., and can be used as a toy. Furthermore, it can also be used as teaching materials and health equipment, such as simple experiments and speed measurements during walking.

  Although the present invention has been described in connection with several preferred embodiments and examples, these embodiments and examples are merely illustrative of the invention and are intended to be limiting. It can be understood that it does not mean. After reading this specification, it will be apparent to a person skilled in the art that numerous modifications and substitutions may be readily made by equivalent components and techniques. It is clear that it falls within the true scope and spirit.

It is a side view of the moving body in the moving body speed measuring system of the 1st example concerning the present invention. It is a side view of the receiving part in the moving body speed measurement system of the 1st example concerning the present invention. It is a front view of the operation board in the moving body speed measurement system of the 1st example concerning the present invention. It is a block diagram of the ultrasonic signal output part 4 in the moving body velocity measurement system of the 1st Example which concerns on this invention. It is a block diagram of the receiving part 6 in the moving body speed measurement system of the 1st Example which concerns on this invention. It is a block diagram of the ultrasonic signal output part 4 in the moving body velocity measurement system of the 2nd Example which concerns on this invention. It is a block diagram of the receiving part 6 in the moving body speed measurement system of the 2nd Example which concerns on this invention. It is a block diagram of the ultrasonic signal output part 4 in the moving body speed measurement system of the 3rd Example which concerns on this invention. It is a block diagram of the receiving part 6 in the moving body speed measurement system of the 3rd Example which concerns on this invention. It is a side view of the moving body in the moving body speed measurement system of the 4th example concerning the present invention. It is a flowchart in the moving body speed measurement system of the 1st Example concerning the present invention.

Claims (16)

  A mobile body equipped with an ultrasonic signal output unit that generates and outputs an ultrasonic signal of a specific frequency, an ultrasonic signal receiving unit that receives the output ultrasonic signal, and the ultrasonic signal receiving unit A movement comprising: a detection unit that detects a difference between the frequency of the ultrasonic signal and the specific frequency; a calculation unit that calculates the speed of the moving body from the detected difference signal; and a display unit that displays the calculated result. Body speed measurement system.   The ultrasonic signal output unit includes a transmission circuit for transmitting a signal having a specific frequency, a booster circuit for boosting a signal amplification voltage, an ultrasonic sensor driving circuit for driving the ultrasonic sensor with the oscillation signal and the boosted voltage, and The moving body speed measurement system according to claim 1, further comprising an ultrasonic sensor output unit including an ultrasonic transducer.   3. The moving body speed measurement system according to claim 2, wherein a plurality of the transmission oscillation circuits are provided, and an arbitrary oscillation circuit is connected to the ultrasonic sensor drive circuit by a selection unit.   The moving body velocity measurement according to claim 1, wherein the ultrasonic signal receiving unit includes an ultrasonic sensor input unit including a receiver including an ultrasonic transducer and an amplifying unit that amplifies a signal from the receiver. system.   The detection unit selectively receives a frequency difference signal, a receiving oscillation circuit unit that generates a signal of a specific frequency, a frequency difference extraction circuit unit that mixes the signal of the specific frequency and the signal amplified by the amplification unit, and The moving body speed measurement system according to claim 4, further comprising a low-pass filter section that transmits the light through the mobile body.   6. The moving body speed measurement system according to claim 5, wherein a plurality of the reception oscillation circuits are provided, and any reception oscillation circuit is connected to the frequency difference extraction circuit section by a selection unit.   The calculation unit includes a sampling unit that samples a signal that has passed through the low-pass filter unit, a band-pass filter unit that passes only a specific frequency band, a sound speed, a specific frequency, and a frequency of the signal that has passed through the band-pass filter unit. The moving body speed measurement system according to claim 5, further comprising: an arithmetic unit that calculates a moving speed of the moving body.   6. The moving body speed measurement system according to claim 5, wherein the display unit includes a display drive unit that is connected to the arithmetic unit and generates a display drive signal, and a display plate unit that receives the display drive signal and displays an image.   The mobile body speed measurement system according to claim 2, wherein a wireless steering reception control unit that receives the wireless control signal and wirelessly controls the mobile body is connected to the ultrasonic sensor driving circuit.   The moving body speed according to claim 9, wherein the radio control reception control unit is connected to an antenna that receives a radio control signal and a receiving unit that demodulates the radio control signal and to a driving unit that moves the moving body. Measuring system.   The mobile body speed measurement system according to claim 9, wherein the calculation unit is further connected to a radio control transmission control unit that transmits a radio control signal for controlling the mobile body.   The radio control transmission control unit is further connected to an input unit for operating the moving body in an arbitrary state, a storage unit that stores information received from the calculation unit, and a transmission unit that generates a control signal, and the transmission unit The moving body speed measurement system according to claim 11 connected to an antenna.   The moving body speed measurement system according to claim 2, wherein the ultrasonic sensor output unit has directivity in one or more specific directions.   The moving body speed measurement system according to claim 2, wherein the ultrasonic sensor output unit does not have directivity in a specific direction.   When the ultrasonic signal output unit mounted on the moving body generates and outputs an ultrasonic signal of a specific frequency, and the ultrasonic signal receiving unit receives the output ultrasonic signal, the detecting unit is the ultrasonic signal receiving unit. A moving body that detects a difference between the frequency of the received ultrasonic signal and the specific frequency, calculates a speed of the moving body from the detected difference signal, and displays a result calculated by the display section Speed measurement method.   The ultrasonic signal output unit according to claim 1 is mounted on a mobile body for radio control, and the ultrasonic signal reception unit, detection unit, calculation unit, and display unit according to claim 1 are used for radio control. A radio-controlled mobile toy that is mounted on a transmitter of

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